Two decades on from the Bali bombings, Prime Minister Anthony Albanese says the ache hasn’t dimmed for Australians, describing the atrocities committed as malicious and depraved.

On Wednesday, the nation commemorated the 202 people killed – including 88 Australians – when extremists detonated bombs near popular nightclubs in Kuta on October 12, 2002.

Images of death and debris still haunt the memories of families who lost loved ones.

The day began with a dawn service at Perth’s King’s Park, where hundreds gathered to remember those killed.

“For many people, this event is still incredibly raw,” Indonesia Institute founder Ross Taylor said.

“The 20th anniversary is a very poignant time for families of those [who died].”

Mr Albanese attended a memorial at eastern Sydney’s Dolphin’s Point, alongside Opposition Leader Peter Dutton and NSW Premier Dominic Perottet.

Dolphin Point is named in memory of the six players from the Coogee Dolphins Rugby League Club who died in the blasts.

In an emotional speech, Mr Albanese said the attack had been a calculated one of malice and depravity, and 20 years had not dimmed the ache.

“For most of us what happened on that fateful night is beyond imagining,” he told the crowd on Wednesday.

“The sudden terrible light, followed by the sudden terrible darkness. The awful postscript of fire.”

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Many people’s futures were stolen, while others would forever carry the scars of the attack, he said.

Among the victims were local workers, alongside Australians from sporting teams celebrating the end of their season – including members of the Kingsley Football Club, Southport Sharks, Dulwich Hill Newtown Basketball Club and Coogee Dolphins.

The terrorists failed in their aim because they struck at the very heart of the Australian identity – “the great fabric of dreams and ideals and compassion and fairness that make us who we are as Australians”, Mr Albanese said.

“All the very worst of circumstances brought out the very best in people. It brought out compassion, selflessness, it brought out heroism.

“They struck at the joy of a free people.”

Mr Perrottet said the terrorists who targeted the Sari Club failed in their goal to instil fear and create division.

“In the aftermath of the attack, we witnessed an outpouring of kindness, courage and hope for all Australians,” he said.

The anniversary would forever belong to the survivors and first responders who helped in the aftermath of the bombing, Mr Perrottet said.

“Although all of us may remember that day – we cannot even begin to imagine what it feels like to you,” he said.

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Commemorative services are taking take place across the nation.

There was a service at Parliament House in Canberra, attended by Foreign Minister Penny Wong and former PM John Howard, and Australian flags flew at half mast across the country.

“Today we remember what was taken, today we remember what was lost,” Senator Wong said.

“While an act of terror might shake us, it can’t change us.

“The worst of humanity brought out the very best. Survivors became saviours, somehow overcoming their pain.”

Indonesia’s ambassador to Australia, Siswo Pramono, also spoke at the Canberra service.

“Indonesia and Australia are not just neighbours. More importantly we are partners,” he said.

“Just as a partnership works, Indonesia and Australia provided support to each other during difficult times.

“I would like to reiterate the unwavering commitment from Indonesia to combat terrorism, the people of Indonesia stand strong against terrorists that threaten our democracy.”

A twilight service will be conducted at Allambe Memorial Park on the Gold Coast, featuring a bronze plaque listing the names of the 88 lost.

Among them are Robert Thwaites, whose parents initiated the Indonesian-style memorial after he was killed in the bombings.

His father Geoff said the memory had become no easier, 20 years on.

“Bob was 25. He had a bright future ahead of him,” he said.

– with AAP